Feedback apparatus and feedback method for controlling a servomotor
AssigneeSick Stegmann GmbH
InventorsUlrich Armbruster, Josef Siraky
Life of this patent
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Abstract
A feedback system for controlling a servo motor comprising at least one rotary angle sensor and at least one rotary speed sensor, wherein the rotary angle sensor supplies a measured rotary angle value to a computer, wherein the rotary speed sensor supplies a measured rotary speed value to the computer, the actual rotary speed values are the measured rotary angle values interpolated according to the integrated measured rotary speed values, and wherein at high rotary speeds, the actual rotary speed values are the calibrated measured rotary angle values, differentiated with respect to time, and at low rotary speeds, the actual rotary speed values are the measured rotary speed values.
Claims7
A feedback apparatus for controlling a servo motor, comprising at least one rotary angle sensor and at least one rotary speed sensor, wherein the rotary angle sensor supplies a rotary angle measured value to a computer, wherein the rotary speed sensor supplies a rotary speed measured value to the computer, wherein in the computer the rotary speed measured value is integrated to form reference rotary angles, wherein the reference rotary angles are compared with the rotary angle measured values calculate rotary angle correction values, wherein the rotary angle measured values are calibrated using the rotary angle correction values, wherein the computer provides actual rotary angle values and/or actual rotary speed values for control purposes, wherein at high rotary speeds, the actual rotary speed values are the calibrated measured rotary angle values, and at low rotary speeds, the actual rotary speed values are the rotary angle measurements interpolated according to the integrated rotary speed measurements, and wherein at high rotary speeds, the actual rotary speed values are the calibrated rotary angle measurements differentiated with respect to time, and at low rotary speeds, the actual rotary speed values are the measured rotary speed values.
A feedback method for controlling a servo motor, in which at least one rotary angle measured value and at least one rotary speed measured value are measured, in which the rotary speed measured value is integrated over time, in which the time integrated measured value is compared with the rotary angle measured value and in each case rotary angle correction values are calculated, in which the rotary angle measured values are corrected on the basis of the rotary angle correction values, in which actual rotary angle values and/or actual rotary speed values are provided for controlling the servo motor, wherein at high rotary speeds, the actual rotary angle values are the corrected rotary angle measured values, and at low rotary speeds, the actual rotary angle values are the integrated rotary speed measured values, and wherein at high rotary speeds, the actual rotary speed values are the corrected rotary angle measured values differentiated with respect to time, and at low speeds, the actual rotary speed values are the rotary speed measured values.
Dependencies are inferred from the claim text.